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Descripción
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| In this work, we present the results of a series of field trials conducted with an underwater vehicle in the increasingly complex underwater environments of the Kaatiala mine in Finland, the Idrija mine in Slovenia, and the Urgeiri\c{c}a mine in Portugal. These field experiments have been performed to test and validate the motion control systems of the underwater explorer robot (UX-1), which are: a variable ballast system for buoyancy control, a variable pitch system for pitch control, and a propulsion system for depth and heading stabilization. The control method implemented is based on a state Feedback Linearization algorithm, previously tested and validated in a controlled water tank environment. Several experiments are shown which demonstrate the successful operation of the motion control systems in individual performance tests. Afterwards, a full exploration and geo-scientific data collection mission is presented, where all of the motion control systems are active simultaneously during a deep dive to more than 100 m. The results obtained in the field tests demonstrate the effectiveness of the motion control systems and validate the UX-1 Robot platform as capable of performing the complex task of navigation and control in flooded mine environments. | |
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Internacional
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JCR del ISI
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Título de la revista
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Ieee Access |
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ISSN
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2169-3536 |
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Factor de impacto JCR
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4,098 |
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Información de impacto
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Datos JCR del año 2018 |
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Volumen
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DOI
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10.1109/ACCESS.2019.2930544 |
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Número de revista
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